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/* Robert Haschke */

#ifndef URDF_URDFDOM_COMPATIBILITY_
#define URDF_URDFDOM_COMPATIBILITY_

#define URDFDOM_HEADERS_MAJOR_VERSION 1
#define URDFDOM_HEADERS_MINOR_VERSION 0
#define URDFDOM_HEADERS_REVISION_VERSION 0

// Define shared pointers for urdfdom versions less than 0.4
// Plus define ModelSharedPtr for 0.4
#if URDFDOM_HEADERS_MAJOR_VERSION == 0 && URDFDOM_HEADERS_MINOR_VERSION <= 4

#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>

#define URDF_TYPEDEF_CLASS_POINTER(Class) \
class Class; \
typedef boost::shared_ptr<Class> Class##SharedPtr; \
typedef boost::shared_ptr<const Class> Class##ConstSharedPtr; \
typedef boost::weak_ptr<Class> Class##WeakPtr

namespace urdf {
// These shared_ptrs were added to urdfdom in 0.4.0,
// so if urdfdom == 0.4 this is duplicate work
URDF_TYPEDEF_CLASS_POINTER(Box);
URDF_TYPEDEF_CLASS_POINTER(Collision);
URDF_TYPEDEF_CLASS_POINTER(Cylinder);
URDF_TYPEDEF_CLASS_POINTER(Geometry);
URDF_TYPEDEF_CLASS_POINTER(Inertial);

URDF_TYPEDEF_CLASS_POINTER(Joint);
URDF_TYPEDEF_CLASS_POINTER(JointCalibration);
URDF_TYPEDEF_CLASS_POINTER(JointDynamics);
URDF_TYPEDEF_CLASS_POINTER(JointLimits);
URDF_TYPEDEF_CLASS_POINTER(JointMimic);
URDF_TYPEDEF_CLASS_POINTER(JointSafety);

URDF_TYPEDEF_CLASS_POINTER(Link);
URDF_TYPEDEF_CLASS_POINTER(Material);
URDF_TYPEDEF_CLASS_POINTER(Mesh);
URDF_TYPEDEF_CLASS_POINTER(Sphere);
URDF_TYPEDEF_CLASS_POINTER(Visual);

URDF_TYPEDEF_CLASS_POINTER(ModelInterface);

// ModelSharedPtr is the only one that needs to be defined for urdfdom 0.4
URDF_TYPEDEF_CLASS_POINTER(Model);
}

#undef URDF_TYPEDEF_CLASS_POINTER

#else // urdfdom <= 0.4

#include <urdf_model/types.h>
#include <urdf_world/types.h>

namespace urdf {
typedef std::shared_ptr<ModelInterface> ModelInterfaceSharedPtr;
typedef std::shared_ptr<const ModelInterface> ModelInterfaceConstSharedPtr;
typedef std::weak_ptr<ModelInterface> ModelInterfaceWeakPtr;

// Forward declaration
class Model;

typedef std::shared_ptr<Model> ModelSharedPtr;
typedef std::shared_ptr<const Model> ModelConstSharedPtr;
typedef std::weak_ptr<Model> ModelWeakPtr;
}

#endif // urdfdom > 0.4

#endif // URDF_URDFDOM_COMPATIBILITY_
